System/method for indoor vehicle collision prevention

ABSTRACT

A method includes determining identification information of a vehicle entering a space within a structure or building. The method also includes determining an expected route of the vehicle within the space. The method also includes determining venue map data corresponding to the expected route, the venue map data indicating one or more safety devices disposed at one or more locations along or near the expected route. The method also includes repeatedly tracking a current location of the vehicle as the vehicle moves within the space. The method also includes in response to determining that the vehicle is in proximity to a first safety device of the one or more safety devices, instructing the first safety device to emit an alert.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims benefit of U.S. Provisional Application No.63/058,484, filed Jul. 29, 2020, entitled SYSTEM/METHOD FOR INDOORVEHICLE COLLISION PREVENTION (Atty. Dkt. No. HERE60-34875), which isincorporated by reference herein in its entirety.

TECHNICAL FIELD

This disclosure is generally directed to location tracking. Morespecifically, this disclosure is directed to a system and method forprevention of indoor vehicle collisions using location information.

BACKGROUND

Recently, automotive manufacturers, IT companies, and others have beeninvesting heavily in research and development of autonomous drivingvehicles. It is quite possible that millions of autonomous drivingvehicles will operate on public roads in the next few years. While suchtechnology will provide great benefits to many, it is possible that thistechnology may also cause challenges, such as with respect to automatedparking in cities and rural areas. For example, in enclosed orunderground parking structures, it can be difficult or impossible forglobal navigation satellite system (GNSS) technology to providepositioning services to a vehicle.

SUMMARY

This disclosure relates to a system and method for prevention of indoorvehicle collisions using location information.

In a first embodiment, a method includes determining identificationinformation of a vehicle entering a space within a structure orbuilding. The method also includes determining an expected route of thevehicle within the space. The method also includes determining venue mapdata corresponding to the expected route, the venue map data indicatingone or more safety devices disposed at one or more locations along ornear the expected route. The method also includes repeatedly tracking acurrent location of the vehicle as the vehicle moves within the space.The method also includes, in response to determining that the vehicle isin proximity to a first safety device of the one or more safety devices,instructing the first safety device to emit an alert.

In a second embodiment, a system includes at least one memory configuredto store instructions and at least one processor coupled to the at leastone memory. The at least one processor is configured when executing theinstructions to determine identification information of a vehicleentering a space within a structure or building. The at least oneprocessor is also configured when executing the instructions todetermine an expected route of the vehicle within the space. The atleast one processor is also configured when executing the instructionsto determine venue map data corresponding to the expected route, thevenue map data indicating one or more safety devices disposed at one ormore locations along or near the expected route. The at least oneprocessor is also configured when executing the instructions torepeatedly track a current location of the vehicle as the vehicle moveswithin the space. The at least one processor is also configured whenexecuting the instructions to, in response to determining that thevehicle is in proximity to a first safety device of the one or moresafety devices, instruct the first safety device to emit an alert.

In a third embodiment, a non-transitory computer readable mediumcontains instructions that when executed cause at least one processor todetermine identification information of a vehicle entering a spacewithin a structure or building; determine an expected route of thevehicle within the space; determine venue map data corresponding to theexpected route, the venue map data indicating one or more safety devicesdisposed at one or more locations along or near the expected route;repeatedly track a current location of the vehicle as the vehicle moveswithin the space; and in response to determining that the vehicle is inproximity to a first safety device of the one or more safety devices,instruct the first safety device to emit an alert

Other technical features may be readily apparent to one skilled in theart from the following figures, descriptions, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding, reference is now made to thefollowing description taken in conjunction with the accompanyingdrawings in which:

FIG. 1 illustrates an example system for use in the prevention of indoorvehicle collisions;

FIG. 2 illustrates an example device for use in the prevention of indoorvehicle collisions;

FIG. 3 illustrates an example environment in which techniques for theprevention of indoor vehicle collisions can be used according to thisdisclosure;

FIGS. 4A and 4B illustrate additional details of an enclosed space shownin FIG. 3 according to this disclosure;

FIG. 5 illustrates an example method for preventing indoor vehiclecollisions according to this disclosure; and

FIG. 6 illustrates an example method for generating an alert in responseto vehicle movement according to this disclosure.

DETAILED DESCRIPTION

Referring now to the drawings, wherein like reference numbers are usedherein to designate like elements throughout, the various views andembodiments of a system/method for indoor vehicle collision preventionare illustrated and described, and other possible embodiments aredescribed. The figures are not necessarily drawn to scale, and in someinstances the drawings have been exaggerated and/or simplified in placesfor illustrative purposes only. One of ordinary skill in the art willappreciate the many possible applications and variations based on thefollowing examples of possible embodiments.

As discussed above, the increased presence of autonomous drivingvehicles may cause challenges, such as with respect to automatedparking. For example, in enclosed, indoor, or underground parkingstructures, it can be difficult or impossible for global navigationsatellite system (GNSS) technology to provide positioning services to avehicle. In addition, some autonomous vehicles that operate primarily inan indoor environment (e.g., warehouse robots) may not be capable ofcommunicating using GNSS protocols. Nevertheless, many of the indoorenvironments in which the autonomous vehicles operate have locations(e.g., corners, intersections, blind spots, and the like) where vehicleand human safety is a significant concern.

Some technologies other than GNSS exist for sharing location informationwith a vehicle. For example, some systems use beacon technology (e.g.,Wi-Fi, small cell, infrared sensor, loop sensor, and the like), cameras,lighting technology, and the like, for indoor positioning of vehicles.However, such vehicles are required to have one or more transceivers(e.g., a cellular modem) installed to communicate with the backbonenetwork in order to share map and parking data. In general, thecommunication channel does not operate in broadcasting mode. Otherwireless technologies or systems for indoor positioning services includeWi-Fi-based positioning system (WPS), Bluetooth, location indexing usingtagged objects, grid sensors, angle of arrival (AoA), time of arrival(ToA), received signal strength indication (RSSI), and the like. Someexisting systems use an enhanced Wi-Fi infrastructure to providelocation information. However, Wi-Fi signal strength measurements tendto be extremely noisy, which requires the use of filters to improveaccuracy.

To address these and other issues, the embodiments disclosed hereinprovide systems and methods for seamlessly integrating static venue mapdata with dynamic data, such as vehicle position or route information,to prevent collisions in an indoor or enclosed space. Some of thedisclosed embodiments enable the remote control and operation of smartsafety alerting devices to emit alerts in the form of lights, sounds, orwireless signals. The smart alerting devices can include, but are notlimited to, convex mirrors that are often found at corners andintersections in driveways and parking structures. While some of thedisclosed embodiments are described in the context of an enclosedparking structure, it will be understood that the principles describedherein can be applied in other scenarios, including industrial plants,warehouses, medical or educational campuses, and the like, as well as inoutdoor environments, such as parking lots or uncovered parkingstructures.

FIG. 1 illustrates an example system 100 for use in the prevention ofindoor vehicle collisions according to this disclosure. As shown in FIG.1, the system 100 includes multiple computing devices 102 a-102 d, atleast one network 104, at least one server 106, and at least onedatabase 108. Note, however, that other combinations and arrangements ofcomponents may also be used here.

In this example, each computing device 102 a-102 d is coupled to orcommunicates over the network 104. Communications between or involvingeach computing device 102 a-102 d and the network 104 may occur in anysuitable manner, such as via a wired or wireless connection. Eachcomputing device 102 a-102 d represents any suitable device or systemcapable of providing information to the server 106 or database 108 or toreceive information from the server 106 or database 108. Example typesof information may include vehicle identification information, locationinformation, venue map data, route information, alert instructions, andthe like. Any suitable number(s) and type(s) of computing devices 102a-102 d may be used in the system 100. In this particular example, thecomputing device 102 a represents a desktop computer, the computingdevice 102 b represents a smartphone computer, the computing device 102c represents a sensing device (e.g., a proximity sensor), and thecomputing device 102 d represents a computer onboard a vehicle (e.g., anautomobile). However, any other or additional types of computing devicesmay be used in the system 100, such as a smart video display screen, aloudspeaker, other types of sensors, and the like. Each computing device102 a-102 d includes any suitable structure configured to transmitand/or receive information.

The network 104 facilitates communication between various components ofthe system 100. For example, the network 104 may communicate InternetProtocol (IP) packets, frame relay frames, Asynchronous Transfer Mode(ATM) cells, or other suitable information between network addresses.The network 104 may include one or more local area networks (LANs),metropolitan area networks (MANs), wide area networks (WANs), all or aportion of a global network such as the Internet, or any othercommunication system or systems at one or more locations. The network104 may also operate according to any appropriate communication protocolor protocols.

The server 106 is coupled to the network 104 and is coupled to orotherwise communicates with the database 108. The server 106 supportsthe retrieval of information from the database 108 and the processing ofthat information. Of course, the database 108 may also be used withinthe server 106 to store information, in which case the server 106 maystore the information itself. Among other things, the server 106processes information for the prevention of indoor vehicle collisions.The server 106 includes any suitable structure configured to processinformation for the prevention of indoor vehicle collisions. In someembodiments, the server 106 includes one or more processors, one or morememories, and one or more communication interfaces. Note, however, thatthe server 106 may be implemented in any suitable manner to perform thedescribed functions. Also note that while described as a server here,the device(s) actually implementing the server 106 may represent one ormore desktop computers, laptop computers, server computers, or othercomputing or data processing devices or systems.

The database 108 stores various information used, generated, orcollected by the server 106 and the computing devices 102 a-102 d. Forexample, the database 108 may store vehicle identification information,location information, venue map data, route information, alertinstructions, and the like. The database 108 may support any suitabletechnique for storing and retrieving information.

Note that there are a number of possible ways to implement the system100 in order to provide the described functionality for the preventionof indoor vehicle collisions. For example, in some embodiments, theserver 106 and database 108 are owned, operated, or managed by a commonentity. In other embodiments, the server 106 and database 108 are owned,operated, or managed by different entities. However, this disclosure isnot limited to any particular organizational implementation.

Although FIG. 1 illustrates one example of a system 100 for use in theprevention of indoor vehicle collisions, various changes may be made toFIG. 1. For example, the system 100 may include any number of computingdevices 102 a-102 d, networks 104, servers 106, and databases 108. Also,while FIG. 1 illustrates that one database 108 is coupled to the network104, any number of databases 108 may reside at any location or locationsaccessible by the server 106, and each database 108 may be coupleddirectly or indirectly to the server 106. In addition, while FIG. 1illustrates one example operational environment for use in theprevention of indoor vehicle collisions, this functionality may be usedin any other suitable system.

FIG. 2 illustrates an example device 200 for use in the prevention ofindoor vehicle collisions according to this disclosure. One or moreinstances of the device 200 may, for example, be used to at leastpartially implement the functionality of the server 106 of FIG. 1.However, the functionality of the server 106 may be implemented in anyother suitable manner. Also, the same or similar arrangement ofcomponents may be used to at least partially implement the functionalityof one or more of the computing devices 102 a-102 d in FIG. 1. However,the functionality of each computing device 102 a-102 d may beimplemented in any other suitable manner.

As shown in FIG. 2, the device 200 denotes a computing device or systemthat includes at least one processing device 202, at least one storagedevice 204, at least one communications unit 206, and at least oneinput/output (I/O) unit 208. The processing device 202 may executeinstructions that can be loaded into a memory 210. The processing device202 includes any suitable number(s) and type(s) of processors or otherdevices in any suitable arrangement. Example types of processing devices202 include one or more microprocessors, microcontrollers, digitalsignal processors (DSPs), application specific integrated circuits(ASICs), field programmable gate arrays (FPGAs), or discrete circuitry.

The memory 210 and a persistent storage 212 are examples of storagedevices 204, which represent any structure(s) capable of storing andfacilitating retrieval of information (such as data, program code,and/or other suitable information on a temporary or permanent basis).The memory 210 may represent a random access memory or any othersuitable volatile or non-volatile storage device(s). The persistentstorage 212 may contain one or more components or devices supportinglonger-term storage of data, such as a read only memory, hard drive,Flash memory, or optical disc.

The communications unit 206 supports communications with other systemsor devices. For example, the communications unit 206 can include anetwork interface card or a wireless transceiver facilitatingcommunications over a wired or wireless network, such as the network104. The communications unit 206 may support communications through anysuitable physical or wireless communication link(s).

The I/O unit 208 allows for input and output of data. For example, theI/O unit 208 may provide a connection for user input through a keyboard,mouse, keypad, touchscreen, or other suitable input device. The I/O unit208 may also send output to a display, printer, or other suitable outputdevice. Note, however, that the I/O unit 208 may be omitted if thedevice 200 does not require local I/O, such as when the device 200 canbe accessed remotely.

In some embodiments, the instructions executed by the processing device202 can include instructions that implement the functionality of theserver 106 described above. For example, the instructions executed bythe processing device 202 can include instructions for preventing indoorvehicle collisions.

Although FIG. 2 illustrates one example of a device 200 for use in theprevention of indoor vehicle collisions, various changes may be made toFIG. 2. For example, computing devices and systems come in a widevariety of configurations, and FIG. 2 does not limit this disclosure toany particular computing device or system.

FIG. 3 illustrates an example environment 300 in which techniques forthe prevention of indoor vehicle collisions can be used according tothis disclosure. For ease of explanation, the environment 300 of FIG. 3may be described as including one or more components of FIG. 1 or FIG.2. However, the environment 300 may involve the use of any suitabledevice(s) in any suitable system(s).

As shown in FIG. 3, the environment 300 includes a vehicle 302 (e.g., anautonomous or driver-operated automobile) that is moving outdoors and isapproaching an enclosed space 310, such as a building or a parkingstructure. In some embodiments, the enclosed space 310 can represent anindoor parking garage that has a parking entrance 311 and a parking exit312. In other embodiments, the enclosed space 310 can represent awarehouse, campus building, or any other suitable indoor space.

The enclosed space 310 is associated with one or more communicatingdevices 315. Each communicating device 315 represents any suitabledevice that is capable of communicating information with another deviceor system. For example, one or more communicating devices 315 caninclude a base station, access point, or terminal device for cellular,Wi-Fi, or Dedicated Short Range Communications (DSRC) communications. Asanother example, one or more communicating devices 315 can include asensor that detects or measures information and communicates theinformation to another device or system. Depending on the embodiment,communicating devices 315 can be disposed in various locations in oraround the enclosed space 310. For example, a communicating device 315can be a sensor (e.g., a proximity sensor, an RF reader, a camera, orthe like) disposed at or near the parking entrance 311 or the parkingexit 312 and capable of sensing or detecting information about thevehicle 302. As another example, a communicating device 315 can be adisplay disposed near driving paths in the enclosed space 310 forshowing information to the vehicle 302 or its occupants.

The enclosed space 310 is also associated with a server 320. In theenvironment 300, the server 320 is configured to receive, process, andsend information associated with devices, activities, and events thatoccur in conjunction with the enclosed space 310. In particular, theserver 320 collects and processes information associated with locationand movement of the vehicle 302 within the enclosed space 310. Forexample, the server 320 can receive information about the vehicle 302that is detected by one communicating device 315 (e.g., a sensor),process the information, and send other information to anothercommunicating device 315 (e.g., a display or warning light) fordisplaying to the vehicle 302. Examples of information received or sentby the server 320 include venue map data, dynamic parking data, safetydevice data, and the like. Some of the information can be used for theprevention of an indoor collision involving the vehicle 302. As aparticular example, the server 320 can receive identificationinformation of the vehicle 302, determine a route of the vehicle 302with the enclosed space 310, determine that a collision involving thevehicle 302 may occur based on the location and movement of the vehicle302, and instruct a communicating device 315 to emit an alert to preventthe collision.

In some embodiments, the server 320 is disposed at or near the enclosedspace 310 and can represent a server that is owned or operated by amanagement entity of the enclosed space 310. In some embodiments, theserver 320 is disposed in a location that is remote from the enclosedspace 310. In some embodiments, the server 320 is owned or operated byanother entity, such as a location services or mapping servicesprovider. Further details of operations of the server 320 are providedbelow in conjunction with other figures. The server 320 represents anysuitable computing device that is capable of receiving, processing, andsending information associated with devices, activities, and events thatoccur in conjunction with the enclosed space 310. In some embodiments,the server 320 represents (or is represented by) the server 106 of FIG.1.

While the vehicle 302 is still outdoors, the vehicle 302 can communicatewith a base station 330. The base station 330 facilitates wirelesscommunication with the vehicle 302, such as over a cellular or Wi-Finetwork. The base station 330 is communicatively coupled to a network340, which can include any suitable wireless or wired network, such asthe internet, a cellular network, a Wi-Fi network, and the like. In someembodiments, the network 340 represents (or is represented by) thenetwork 104 of FIG. 1. As shown in FIG. 3, the network 340 and the basestation 330 provide a communication path for information to betransmitted between the enclosed space 310 and the vehicle 302.

In FIG. 3, the vehicle 302 is represented as a passenger vehicle, suchas an automobile, a truck, or the like. Such passenger vehicles aretypically operated by a driver and may also include one or morenon-driving passengers. However, this is merely one example type ofvehicle, and this disclosure is not limited thereto. In someembodiments, the vehicle 302 can be an autonomous vehicle that does nothave a human driver or a passenger. In some embodiments, the vehicle 302can be a robotic device that operates within a warehouse environment,industrial environment, or any other suitable environment.

As described herein, the environment 300 provides a system in which realtime indoor venue map data can be combined with location data of thevehicle 302 to enable the tracking and routing of the vehicle 302 as thevehicle 302 moves within the enclosed space 310. Vehicle tracking can beperformed to prevent indoor collisions involving the vehicle 302, toensure the vehicle 302 follows a predetermined route, or both. In someembodiments, safety devices within the enclosed space 310 (e.g.,positioned along the driving route of the vehicle 302) can be controlledto emit alerts to prevent collisions, guide the vehicle 302, or provideother information.

The venue map data and vehicle location data can be communicatedthroughout the environment 300 via the base station 330 using cellulartechnology (e.g., 3G/4G/5G), or via one or more communicating devices315 using other wireless communication technology, such as Wi-Fi or DSRCin broadcasting mode. As known in the art, DSRC operates in the 5.9 GHzband with 75 MHz of allocated spectrum to enable vehicle safety andmobility applications. As the name suggests, DSRC mainly providescommunication in a range from hundreds of meters up to lkm distance.Unlike cellular networks, DSRC can be used for broadcasting informationto all vehicles in a given communication range. Vehicles equipped with aDSRC receiver can receive such broadcast information.

FIGS. 4A and 4B illustrate additional details of the enclosed space 310of FIG. 3 according to this disclosure. As shown in FIG. 4A, theenclosed space 310 is represented as an indoor parking structure thatincludes multiple parking spaces 402 for vehicles and multiple paths 404in which the vehicle 302 can move. The enclosed space 310 can alsoinclude various features typical for a parking structure, including oneor more stairways, elevators, offices, pedestrians, and the like. Inaddition, the enclosed space 310 includes multiple safety devices 406disposed at different locations within the enclosed space 310, such asat corners of the paths 404. Such locations are often blind spots wherevisibility is reduced and the potential for collisions is higher.

In FIG. 4A, the vehicle 302 has entered the enclosed space 310 throughthe parking entrance 311. Prior to the vehicle 302 entering the enclosedspace 310, the location and driving path of the vehicle 302 can bedetermined and tracked using one or more location technologies, such asGPS, sensors, map matching techniques, and the like. The location anddriving path of the vehicle 302 can also take into account any roadnetwork topology information that is available in the vehicle 302.

As the vehicle 302 approaches or enters the parking entrance 311, thevehicle 302 can be identified, and the identification information can beprovided to the server 320. There are a number of methods by which thevehicle 302 can be identified. For example, a communicating device 315having a camera can capture an image of the license plate number,identification label, or vehicle identification number (VIN) tag of thevehicle 302. In some embodiments, the identification label can include abarcode or QR code that are readable by the communicating device 315. Asanother example, a communicating device 315 having a wireless receivercan detect a signal transmitted by a garage door opener or gate openeractivated at the vehicle 302. As yet another example, a communicatingdevice 315 having an RF reader can read an RFID tag or highway toll tagassociated with the vehicle 302. In some embodiments, a communicatingdevice 315 can detect or receive information from a personalcommunication device of an occupant of the vehicle 302. For example, thedriver of the vehicle 302 may show an image (e.g., a bar code) on thedriver's mobile phone that identifies the driver or the vehicle 302. Insome embodiments, the identification information can include an indoorparking request provided by the vehicle 302 or the driver of the vehicle302.

The identification information can be sent to the server 320, and theserver 320 can process the information as needed. In some embodiments,the server 320 can use the identification information to determine ifthe vehicle 302 is authorized to enter or park within the enclosed space310. In some embodiments, the server 320 can use the identificationinformation to determine a route for the vehicle 302 within the enclosedspace 310, based on a predetermined destination associated with thevehicle 302. For example, FIG. 4B shows a route 408 for the vehicle 302to take through the enclosed space 310. In this example, the route 408directs the vehicle 302 to a predetermined parking location on an upperlevel and then to the parking exit 312 at a later time. For thisexample, the vehicle 302 may be identified as an expected deliveryvehicle and the predetermined parking location may correspond to alocation where the delivery can be made. As another example, a route 408may direct the vehicle 302 to an assigned parking space 410 on thecurrent level. As yet another example, in a warehouse environment, thevehicle 302 may be an autonomous robot carrying materials or supplies,and the route 408 directs the robot to a predetermined delivery pointfor the materials or supplies.

The route 408 can be determined by the server 320 using venue map dataassociated with the enclosed space 310. The venue map data may beprecached offline or online, and can be rendered in one or more maplayers. The venue map data can include various types of mapping orlocation information that can be used by the vehicle 302 or anotherdevice or component in the enclosed space 310. For example, the venuemap data can include route information for the vehicle 302 through theenclosed space 310 to its destination or to the parking exit 312. Asanother example, the venue map data can include route information thatcan be displayed on a visual map in the vehicle 302 or can be used onlyin data form. As yet another example, the venue map data can includeupdates of risks, obstacles, changes in environment, or other nearbyvehicles or people while the vehicle 302 moves within the enclosed space310, such as along the route 408. In some embodiments, a communicationconnection between the vehicle 302 and the server 320 can beestablished, and the server 320 can send the venue map data or otherinformation associated with the route 408 to the vehicle 302 for thevehicle 302 to follow. For example, when the vehicle 302 is anautonomous vehicle, the venue map data can be transmitted to the vehicle302 to assist an autonomous driving operation of the vehicle 302. Insome cases, the server 320 may not be able to determine a route 408 forthe vehicle 302. For example, if the vehicle 302 is unexpected orunknown, a destination for the vehicle 302 may not be known in advance,and a route 408 cannot be determined.

Once the identity of the vehicle 302 or the driver is determined, thelocation of the vehicle 302 can be tracked and recorded as the vehicle302 moves within the enclosed space 310, e.g., along the route 408. Forexample, one or more communicating devices 315 with position sensors (orother types of sensors) can detect the location of the vehicle 302 andsend location information to the server 320 for tracking and processing.As another example, one or more of the safety devices 406 can detect thelocation of the vehicle 302 and send location information to the server320.

Each safety device 406 can be configured for wired or wirelesscommunication with the server 320, other safety devices 406, the vehicle302, other devices in the enclosed space 310, or a combination of these.In particular, each safety device 406 can receive or send commands,data, or other information to or from the server 320, the vehicle 302,or another device. In some embodiments, at least one of the safetydevices 406 can be a convex safety mirror, similar to those that areoften found at corners and intersections in driveways and parkingstructures. Other safety devices 406 can include an electronic sign, adisplay screen, a loudspeaker, or a combination of these. In theenclosed space 310, each safety device 406 can be configured with aremote wireless control module capable of receiving control commandinstructions and sending information (e.g., location information of thevehicle 302 and other nearby people and devices) to the server 320.

In some embodiments, one or more safety devices 406 can be controlled bythe server 320 to detect safety risks (e.g., possible collisions,obstacles in the vehicle path, and the like) or unauthorized movementsthrough video monitoring or other detection methods. For example, asafety device 406 can detect that the vehicle 302 may collide with anearby pedestrian that is at or near the route 408. As another example,the safety device 406 can detect that the vehicle 302 may collide with aparked vehicle or a wall when the vehicle 302 is moving toward theparked vehicle or wall. Because the safety device 406 may be disposed ina corner or blind spot, the safety device 406 may be better able todetect a possible collision than the vehicle 302 itself can. As yetanother example, instead of a possible collision, the safety device 406can detect that the vehicle 302 is moving away from its designated route408. In some embodiments, the safety device 406 merely collects locationinformation about safety risks or unauthorized movements and sends theinformation to the server 320, and the server 320 uses the informationto make the determination that a safety risk or unauthorized movementhas occurred.

Each safety device 406 can also be configured to emit an alert to thevehicle 302, the driver of the vehicle 302, or any nearby pedestrians inthe event that a possible collision or unauthorized movement isdetected. In some embodiments, the alert is a visual or audible alertfor alerting a driver of the vehicle 302 or a pedestrian near thevehicle 302. For example, the alert could include the safety device 406blinking, flashing brightly, changing color, or sounding an alarm sound.In some embodiments, the alert is an electronic message, and the safetydevice 406 is instructed to emit the alert by wireless transmission tothe vehicle 302 or a personal mobile device, such as a mobile phone. Thealert is emitted to cause the vehicle 302, the driver of the vehicle302, or the nearby pedestrians to stop or change course in order toprevent the collision or unauthorized movement. In embodiments in whichthe vehicle 302 is an autonomous vehicle, the alert can be used toenable or disable an autonomous driving operation of the vehicle 302based on a determination that the vehicle 302 is about to collide withan object or a person.

If information regarding the intended route 408 of the vehicle 302 isavailable, the server 320 can control or enable one or more safetydevices 406 along the route 408, while not actively controlling othersafety devices 406 that are not along the route 408. For example, safetydevices 406 within a threshold distance in front of the vehicle 302′scurrent position could be illuminated one at a time as the vehicle 302progresses along the route 408, in order to guide the vehicle 302.Conversely, if information regarding the intended route 408 of thevehicle 302 is not available, the server 320 can determine which safetydevice(s) 406 are located within a predetermined threshold distance fromthe vehicle 302′s current position. Then the server 320 can control orenable only those safety devices 406 in order to detect a possiblecollision or unauthorized movement.

In some embodiments, information obtained (e.g., by the communicatingdevices 315, the safety devices 406, etc.) about the vehicle 302 and itsmovement path within the enclosed space 310 can be continuously orregularly sent to the server 320 for archiving. Later, this informationcan be used for data analysis, such as to develop better venue map data.

Although FIGS. 3, 4A, and 4B illustrate an example environment 300 inwhich techniques for the prevention of indoor vehicle collisions can beused, various changes may be made to these figures. For example,environments involving vehicles, enclosed spaces, and electroniccommunication of information can include a wide variety of componentsarranged in many possible configurations, and FIGS. 3, 4A, and 4B do notlimit the scope of this disclosure.

FIG. 5 illustrates an example method 500 for preventing indoor vehiclecollisions according to this disclosure. For ease of explanation, themethod 500 may be described as being performed in the environment 300 ofFIG. 3. For example, some of operations of FIG. 5 may be performed bythe server 320. However, the method 500 may involve the use of anysuitable device(s) in any suitable environment(s).

At step 501, vehicle identification information is determined at or nearan entrance to a space within a structure or a building. This caninclude, for example, a communication device (e.g., a sensor) detectingor reading identification information from the vehicle 302 as thevehicle 302 enters the parking entrance 311, and providing the vehicleidentification information to the server 320 (e.g., by wireless or wiredtransmission).

At step 503, it is determined whether or not the vehicle is authorized.This can include, for example, the server 320 comparing theidentification information from the vehicle 302 to a database havingauthorized vehicle information. If the vehicle is not authorized, thenthe method 500 returns to step 501 to determine vehicle identificationagain, in case the vehicle was incorrectly identified. If the vehicle isauthorized, then the method 500 proceeds to step 505.

At step 505, venue map data is wirelessly sent to the vehicle. This caninclude, for example, the server 320 sending venue map data to thevehicle 302 (e.g., via a communicating device 315). The venue map datacan be used by the vehicle 302 to enable or guide movement of thevehicle 302 within the enclosed space 310. In particular, when thevehicle 302 is an autonomous vehicle, the venue map data can assist anautonomous driving operation of the autonomous vehicle.

At step 507, retrieval of route information is attempted. This caninclude, for example, the server 320 determining if a route 408 is knownfor the vehicle 302 within the enclosed space 310. If the routeinformation is not retrieved, then the method 500 proceeds to step 509.If the route information is retrieved, then the method 500 proceeds tostep 511.

At step 509, it is determined which safety devices are within a certainthreshold distance of the vehicle. This can include, for example, theserver 320 determining which safety devices 406 are located within apredetermined threshold distance from a current position of the vehicle302.

At step 511, it is determined which safety devices are along the routeof the vehicle and are within a certain threshold distance of thevehicle. This can include, for example, the server 320 determining whichsafety devices 406 are located along the route 408 and are within apredetermined threshold distance from a current position of the vehicle302.

At step 513, one or more of the safety devices determined in step 509 or511 are instructed to emit an alert or warning. In some embodiments, thealert is a visual or audible alert for alerting a driver of the vehicleor a person near the vehicle. In some embodiments, the alert is anelectronic message, and the safety device is instructed to emit thealert by wireless transmission to the vehicle or a personal mobiledevice. This can include, for example, one or more of the safety devices406 emitting an alert that can be received and interpreted by thevehicle 302, a driver of the vehicle 302, or a person near the vehicle302.

At step 515, it is determined whether or not there is updated venue mapdata based on a new location of the vehicle. This can include, forexample, the server 320 determining that the vehicle 302 has moved to anew location, and identifying new or updated venue map data thatcorresponds to the new location of the vehicle 302. For example, if theenclosed space 310 is a multi-level parking structure and the vehicle302 moves to a new level, the server 320 can identify updated venue mapdata associated with the new level where the vehicle 302 is now located.The updated venue map data can include updates of risks, obstacles,changes in environment, or other nearby vehicles or people. If there isupdated venue map data, then the method 500 returns to step 505 forsending the updated venue map data to the vehicle 302. If there is noupdated venue map data, then the method 500 ends.

Although FIG. 5 illustrates one example of a method 500 for preventingindoor vehicle collisions, various changes may be made to FIG. 5. Forexample, while shown as a series of steps, various steps in FIG. 5 mayoverlap, occur in parallel, occur in a different order, or occur anynumber of times. Also, one or more steps could be added to the method500, and one or more steps could be removed from the method 500.

FIG. 6 illustrates an example method 600 for generating an alert inresponse to vehicle movement according to this disclosure. For ease ofexplanation, the method 600 of FIG. 6 may be described as beingperformed in the environment 300 of FIG. 3. For example, some ofoperations of FIG. 6 may be performed by the server 320. However, themethod 600 may involve the use of any suitable device(s) in any suitableenvironment(s).

At step 601, identification information is determined of a vehicleentering a space within a structure or building. This can include, forexample, a communication device (e.g., a sensor) detecting or readingidentification information from the vehicle 302 as the vehicle 302enters the parking entrance 311, and providing the vehicleidentification information to the server 320 (e.g., by wireless or wiredtransmission).

At step 603, an expected route of the vehicle within the space isdetermined. In some embodiments, the expected route of the vehicle isdetermined based on a predetermined destination of the vehicle withinthe space. This can include, for example, the server 320 processing theidentification information from the vehicle 302, determining thedestination of the vehicle 302 based on its identification information,and determining a route 408 for the vehicle 302 to get to thedestination.

At step 605, venue map data corresponding to the expected route isdetermined. The venue map data indicates one or more safety devicesdisposed at one or more locations along or near the expected route. Thiscan include, for example, the server 320 correlating the route 408 witha database of venue map data for the enclosed space 310 in order todetermine one or more safety devices 406 along the route 408. In someembodiments, the venue map data is determined by identifying the venuemap data based on location information of the vehicle, and thenextracting the venue map data from a database. In some embodiments, atleast one of the one or more safety devices comprises at least one of atraffic mirror, an electronic sign, a display screen, or a loudspeaker.

At step 607, the venue map data is transmitted to the vehicle. The venuemap data is configured to assist the vehicle or a driver of the vehicleto follow the expected route. This can include, for example, the server320 sending venue map data to the vehicle 302 (e.g., via a communicatingdevice 315).

At step 609, a current location of the vehicle is repeatedly tracked asthe vehicle moves within the space. This can include, for example, theserver 320 repeatedly receiving location information of the vehicle 302from one or more communicating devices 315, safety devices 406, or acombination of these, as the vehicle 302 moves within the enclosed space310.

At step 611, a first safety device among the safety devices isinstructed to emit an alert. The instruction is in response todetermining that the vehicle is in proximity to the first safety device.In some embodiments, the alert is a visual or audible alert for alertinga driver of the vehicle or a person near the vehicle. In someembodiments, the alert is an electronic message, and the first safetydevice is instructed to emit the alert by wireless transmission to thevehicle or a personal mobile device. In some embodiments, the firstsafety device is instructed to emit the alert further in response todetermining that the vehicle is about to collide with an object or aperson. In some embodiments, the first safety device is instructed toemit the alert further in response to determining that the vehicle isdeviating from the expected route. This can include, for example, one ormore of the safety devices 406 emitting an alert that can be receivedand interpreted by the vehicle 302, a driver of the vehicle 302, or aperson near the vehicle 302.

Although FIG. 6 illustrates one example of a method 600 for generatingan alert in response to vehicle movement, various changes may be made toFIG. 6. For example, while shown as a series of steps, various steps inFIG. 6 may overlap, occur in parallel, occur in a different order, oroccur any number of times. Also, one or more steps could be added to themethod 600, and one or more steps could be removed from the method 600.

In some embodiments, various functions described in this patent documentare implemented or supported by a computer program that is formed fromcomputer readable program code and that is embodied in a computerreadable medium. The phrase “computer readable program code” includesany type of computer code, including source code, object code, andexecutable code. The phrase “computer readable medium” includes any typeof medium capable of being accessed by a computer, such as read onlymemory (ROM), random access memory (RAM), a hard disk drive, a compactdisc (CD), a digital video disc (DVD), or any other type of memory. A“non-transitory” computer readable medium excludes wired, wireless,optical, or other communication links that transport transitoryelectrical or other signals. A non-transitory computer readable mediumincludes media where data can be permanently stored and media where datacan be stored and later overwritten, such as a rewritable optical discor an erasable storage device.

It may be advantageous to set forth definitions of certain words andphrases used throughout this patent document. The terms “application”and “program” refer to one or more computer programs, softwarecomponents, sets of instructions, procedures, functions, objects,classes, instances, related data, or a portion thereof adapted forimplementation in a suitable computer code (including source code,object code, or executable code). The term “communicate,” as well asderivatives thereof, encompasses both direct and indirect communication.The terms “include” and “comprise,” as well as derivatives thereof, meaninclusion without limitation. The term “or” is inclusive, meaningand/or. The phrase “associated with,” as well as derivatives thereof,may mean to include, be included within, interconnect with, contain, becontained within, connect to or with, couple to or with, be communicablewith, cooperate with, interleave, juxtapose, be proximate to, be boundto or with, have, have a property of, have a relationship to or with, orthe like. The phrase “at least one of,” when used with a list of items,means that different combinations of one or more of the listed items maybe used, and only one item in the list may be needed. For example, “atleast one of: A, B, and C” includes any of the following combinations:A, B, C, A and B, A and C, B and C, and A and B and C.

The description in the present application should not be read asimplying that any particular element, step, or function is an essentialor critical element that must be included in the claim scope. The scopeof patented subject matter is defined only by the allowed claims.Moreover, none of the claims invokes 35 U. S.C. § 112(f) with respect toany of the appended claims or claim elements unless the exact words“means for” or “step for” are explicitly used in the particular claim,followed by a participle phrase identifying a function. Use of termssuch as (but not limited to) “mechanism,” “module,” “device,” “unit,”“component,” “element,” “member,” “apparatus,” “machine,” “system,”“processor,” or “controller” within a claim is understood and intendedto refer to structures known to those skilled in the relevant art, asfurther modified or enhanced by the features of the claims themselves,and is not intended to invoke 35 U.S.C. § 112(f).

While this disclosure has described certain embodiments and generallyassociated methods, alterations and permutations of these embodimentsand methods will be apparent to those skilled in the art. It should beunderstood that the drawings and detailed description herein are to beregarded in an illustrative rather than a restrictive manner, and arenot intended to be limiting to the particular forms and examplesdisclosed. On the contrary, included are any further modifications,changes, rearrangements, substitutions, alternatives, design choices,and embodiments apparent to those of ordinary skill in the art, withoutdeparting from the spirit and scope hereof, as defined by the followingclaims. Thus, it is intended that the following claims be interpreted toembrace all such further modifications, changes, rearrangements,substitutions, alternatives, design choices, and embodiments.

What is claimed is:
 1. A method comprising: determining identificationinformation of a vehicle entering a space within a structure or abuilding; determining an expected route of the vehicle within the space;determining venue map data corresponding to the expected route, thevenue map data indicating one or more safety devices disposed at one ormore locations along or near the expected route; repeatedly tracking acurrent location of the vehicle as the vehicle moves within the space;and in response to determining that the vehicle is in proximity to afirst safety device of the one or more safety devices, instructing thefirst safety device to emit an alert.
 2. The method of claim 1, whereinthe vehicle is an autonomous vehicle, the method further comprising:transmitting the venue map data to the autonomous vehicle, the venue mapdata configured to assist an autonomous driving operation of theautonomous vehicle.
 3. The method of claim 2, wherein the autonomousdriving operation of the autonomous vehicle is enabled or disabled basedon a determination that the autonomous vehicle is about to collide withan object or a person.
 4. The method of claim 1, wherein determining thevenue map data comprises: identifying the venue map data based onlocation information of the vehicle; and extracting the venue map datafrom a database.
 5. The method of claim 1, wherein the first safetydevice is instructed to emit the alert further in response todetermining that the vehicle is about to collide with an object or aperson.
 6. The method of claim 1, wherein the first safety device isinstructed to emit the alert further in response to determining that thevehicle is deviating from the expected route.
 7. The method of claim 1,wherein the alert is a visual or audible alert for alerting a driver ofthe vehicle or a person near the vehicle.
 8. The method of claim 1,wherein the alert is an electronic message, and the first safety deviceis instructed to emit the alert by wireless transmission to the vehicleor a personal mobile device.
 9. The method of claim 1, wherein theexpected route of the vehicle is determined based on a predetermineddestination of the vehicle within the space.
 10. The method of claim 1,further comprising: transmitting the venue map data to the vehicle, thevenue map data configured to assist the vehicle or a driver of thevehicle to follow the expected route.
 11. The method of claim 1, whereinat least one of the one or more safety devices comprises at least one ofa traffic mirror, an electronic sign, a display screen, or aloudspeaker.
 12. A system comprising: at least one memory configured tostore instructions; and at least one processor coupled to the at leastone memory and configured when executing the instructions to: determineidentification information of a vehicle entering a space within astructure or building; determine an expected route of the vehicle withinthe space; determine venue map data corresponding to the expected route,the venue map data indicating one or more safety devices disposed at oneor more locations along or near the expected route; repeatedly track acurrent location of the vehicle as the vehicle moves within the space;and in response to determining that the vehicle is in proximity to afirst safety device of the one or more safety devices, instruct thefirst safety device to emit an alert.
 13. The system of claim 12,wherein the at least one processor is configured to instruct the firstsafety device to emit the alert further in response to determining thatthe vehicle is about to collide with an object or a person.
 14. Thesystem of claim 12, wherein the at least one processor is configured toinstruct the first safety device to emit the alert further in responseto determining that the vehicle is deviating from the expected route.15. The system of claim 12, wherein the alert is a visual or audiblealert for alerting a driver of the vehicle or a person near the vehicle.16. The system of claim 12, wherein the alert is an electronic message,and the at least one processor is configured to instruct the firstsafety device to emit the alert by wireless transmission to the vehicleor a personal mobile device.
 17. The system of claim 12, wherein the atleast one processor is configured to determine the expected route of thevehicle based on a predetermined destination of the vehicle within thespace.
 18. The system of claim 12, wherein the at least one processor isfurther configured to: transmit the venue map data to the vehicle, thevenue map data configured to assist the vehicle or a driver of thevehicle to follow the expected route.
 19. The system of claim 12,wherein at least one of the one or more safety devices comprises atleast one of a traffic mirror, an electronic sign, a display screen, ora loudspeaker.
 20. A non-transitory computer readable medium containinginstructions that when executed cause at least one processor to:determine identification information of a vehicle entering a spacewithin a structure or building; determine an expected route of thevehicle within the space; determine venue map data corresponding to theexpected route, the venue map data indicating one or more safety devicesdisposed at one or more locations along or near the expected route;repeatedly track a current location of the vehicle as the vehicle moveswithin the space; and in response to determining that the vehicle is inproximity to a first safety device of the one or more safety devices,instruct the first safety device to emit an alert.